Mine management system and mine managing method

ABSTRACT

Provided is a mine management system for a mine where an unmanned vehicle operates in an operation area of the mine, including determining based on position data of a moving body which is different from the unmanned vehicle whether the moving body enters the operation area, starting monitoring abnormality including abnormality of at least one of communication state and position detection state of the moving body based on manipulation on an input device installed in the moving body, setting an entrance prohibited area where entrance of the unmanned vehicle is prohibited to include a position of the moving body and activating a function of expanding the entrance prohibited area when an abnormality is detected, and activating an alarm device installed in the moving body when it is determined that the moving body enters the operation area and the input device is not manipulated.

This application is a divisional application of U.S. application Ser.No. 15/027,853, now U.S. Pat. No. 9,593,463 filed Apr. 7, 2016 which isa National Stage Entry of PCT/JP2015/080846 filed Oct. 30, 2015.

FIELD

The present invention relates to a mine management system and a minemanaging method.

BACKGROUND

As disclosed in Patent Literature 1, in a mine, in some cases, both ofunmanned vehicles and manned vehicles operate. In addition, in the mine,workers also operate.

CITATION LIST Patent Literature

Patent Literature 1: Japanese Laid-open Patent Publication No.2000-315112

SUMMARY Technical Problem

Unexpected interference may occur between unmanned vehicles and mannedvehicles or workers. Therefore, a technique capable of ensuring safetyof the manned vehicles or workers is desired to be contrived. On theother hand, if a safety function for ensuring the safety of the mannedvehicles or the workers is excessively activated, there is a possibilitythat it results in reduction in productivity of the mine.

An object of an aspect of the present invention is to provide a minemanagement system and a mine managing method capable of suppressingreduction in productivity of the mine and ensuring safety of mannedvehicles or workers.

Solution to Problem

According to a first aspect of the present invention, a mine managementsystem for a mine where an unmanned vehicle operates in an operationarea of the mine, comprises: an entrance determination unit whichdetermines based on position data of a moving body which is differentfrom the unmanned vehicle whether or not the moving body enters theoperation area; an abnormality monitoring unit which starts monitoringabnormality including abnormality of at least one of communication stateand position detection state of the moving body based on manipulation onan input device installed in the moving body; an entrance prohibitedarea setting unit which sets an entrance prohibited area where entranceof the unmanned vehicle is prohibited so that the entrance prohibitedarea includes a position of the moving body and activates a function ofexpanding the entrance prohibited area when an abnormality is detectedby the abnormality monitoring unit; and an alarm device control unitwhich activates an alarm device installed in the moving body when it isdetermined that the moving body enters the operation area and the inputdevice is not manipulated.

According to a second aspect of the present invention, a mine managingmethod by a computer system for a mine where an unmanned vehicleoperates in an operation area of the mine, comprises: acquiring positiondata of a moving body which is different from the unmanned vehicle;determining based on the position data whether or not the moving bodyenters the operation area; acquiring a command signal generated based onmanipulation on an input device installed in the moving body; startingmonitoring abnormality including abnormality of at least one ofcommunication state and position detection state of the moving bodybased on the command signal; setting entrance prohibited area whereentrance of the unmanned vehicle is prohibited so that the entranceprohibited area includes a position of the moving body; activating afunction of expanding the entrance prohibited area when an abnormalityis detected by the abnormality monitoring unit; and outputting a controlsignal of activating an alarm device installed in the moving body whenit is determined that the moving body enters the operation area and theinput device is not manipulated.

Advantageous Effects of Invention

According to the aspects of the present invention, provided are a minemanagement system and a mine managing method capable of suppressingreduction in productivity of the mine and ensuring safety of mannedvehicles or workers.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a schematic diagram illustrating an example of a mineaccording to an embodiment.

FIG. 2 is a schematic diagram illustrating an example of a mannedvehicle according to the embodiment.

FIG. 3 is a schematic diagram illustrating an example of a mannedvehicle according to the embodiment.

FIG. 4 is a functional block diagram illustrating an example of a mannedvehicle according to the embodiment.

FIG. 5 is a functional block diagram illustrating an example of amanagement device according to the embodiment.

FIG. 6 is a schematic diagram illustrating an example of an unmannedvehicle according to the embodiment.

FIG. 7 is a schematic diagram illustrating an example of an unmannedvehicle according to the embodiment.

FIG. 8 is a functional block diagram illustrating an example of anunmanned vehicle according to the embodiment.

FIG. 9 is a schematic diagram illustrating an example of an entranceprohibited area according to the embodiment.

FIG. 10 is a flowchart illustrating an example of a mine managing methodaccording to an embodiment.

FIG. 11 is a schematic diagram illustrating an example of a minemanaging method according to the embodiment.

FIG. 12 is a schematic diagram illustrating an example of a minemanaging method according to the embodiment.

FIG. 13 is a schematic diagram illustrating an example of a minemanaging method according to the embodiment.

FIG. 14 is a schematic diagram illustrating an example of an alarmdevice according to the embodiment.

FIG. 15 is a schematic diagram illustrating an example of a minemanaging method according to the embodiment.

FIG. 16 is a schematic diagram illustrating an example of a minemanaging method according to the embodiment.

FIG. 17 is a functional block diagram illustrating an example of amanned vehicle according to the embodiment.

DESCRIPTION OF EMBODIMENTS

Hereinafter, embodiments of the present invention will be described withreference to the drawings, but the present invention is not limitedthereto. Components of the embodiments described hereinafter may beappropriately combined. In addition, some portions of the components maynot be used.

<Overview of Mine>

FIG. 1 is a schematic diagram illustrating an example of a mining siteof a mine managed by a mine management system 1 according to anembodiment. The management system 1 manages the mine. In the mine,unmanned vehicles 2, manned vehicles 40, and workers operate. The minemanagement includes management of the unmanned vehicles 2, management ofthe manned vehicles 40, and the management of the workers.

As illustrated in FIG. 1, the management system 1 is installed in acontrol facility 8 of the mine and is configured to include a managementdevice 10 including a computer system. The management device 10, theunmanned vehicles 2, and the manned vehicles 40 can perform wirelesscommunication through a communication system 9. The unmanned vehicle 2is operated based on command signals from the management device 10. Noworker (driver) boards the unmanned vehicle 2. A worker (driver) boardsthe manned vehicle 40. In addition, the unmanned vehicle 2 may bemanipulated by a driver who boards the unmanned vehicle 2. For example,in at least one of the case of parking the unmanned vehicle 2 into aparking site, the case of taking out the unmanned vehicle 2 from theparking site, and the case of refueling the unmanned vehicle 2, a drivermay board the unmanned vehicle 2 to manipulate the unmanned vehicle 2.

The unmanned vehicle 2 is used for the work in the mine. In theembodiment, it is configured that the unmanned vehicle 2 is a dump truck2 as a kind of a transport vehicle. The dump truck 2 can run in the mineand transport a load in the mine. The dump truck 2 is configured toinclude a vehicle 3 and a vessel 4 installed on the vehicle 3. The dumptruck 2 transports the load loaded on the vessel 4. The load includessoil or rocks which are generated in the mining of crushed stones.

In a mining site of the mine, a loading site LPA, a dumping site DPA,and a haul road HL communicating with at least one of the loading siteLPA and the dumping site DPA are arranged. In many cases, the haul roadHL is an unpaved road. The dump truck 2 can run in the loading site LPA,the dumping site DPA, and the haul road HL. In the loading site LPA, aload is loaded on the vessel 4. The load is loaded on the vessel 4 by aloading machine LM. As the loading machine LM, an excavator or a wheelloader is used. The dump truck 2 loaded with the load runs on the haulroad HL from the loading site LPA to the dumping site DPA. In thedumping site DPA, the load is discharged from the vessel 4. The dumptruck 2 from which the load is discharged runs on the haul road HL fromthe dumping site DPA to the loading site LPA. In addition, the dumptruck 2 may run from the dumping site DPA to a predetermined parkingsite.

The manned vehicle 40 can run in the mine. The manned vehicle 40 is amoving body different from the dump truck 2. The manned vehicle 40 canrun in the loading site LPA, the dumping site DPA, and the haul road HL.The worker boards the manned vehicle 40 to move in the mine. The workerperforms monitoring, maintenance, or the like of the mine.

A position of the dump truck 2 and a position of the manned vehicle 40are detected by a global positioning system (GPS). The GPS includes aGPS satellite ST. The position detected by the GPS is an absoluteposition defined in a GPS coordinate system. In the descriptionhereinafter, the position detected by the GPS is appropriately referredto as a GPS position. The GPS position includes coordinate data oflatitude, longitude, and altitude.

<Manned Vehicle>

Next, the manned vehicle 40 will be described. FIGS. 2 and 3 areschematic diagrams illustrating examples of the manned vehicle 40according to the embodiment. FIG. 4 is a functional block diagramillustrating an example of the manned vehicle 40 according to theembodiment.

The manned vehicle 40 is configured to include a driving device 41 whichcan run in the mine, a vehicle body 50 which is supported on the drivingdevice 41, a power generating device 43 which generates power, and amanned vehicle control device 60.

The driving device 41 is configured to include wheels 42, axles whichrotatably support the wheels 42, a brake device 44 which can stoprunning, and a steering device 45 which can steer a running direction.

The driving device 41 drives by the power generated by the powergenerating device 43. The power generating device 43 includes aninternal combustion engine such as a diesel engine. The power generatedby the power generating device 43 is transmitted to the wheels 42 of thedriving device 41. By the power, the driving device 41 is driven. Byadjusting the power of the power generating device 43, the running speedof the manned vehicle 40 is adjusted.

The brake device 44 can stop the running of the driving device 41. Thebrake device 44 is operated, so that the running speed of the mannedvehicle 40 is adjusted.

The steering device 45 can steer the running direction of the drivingdevice 41. The running direction of the manned vehicle 40 including thedriving device 41 includes the direction of the front portion of thevehicle body 50. The steering device 45 steers the running direction ofthe manned vehicle 40 by changing the direction of the front wheels.

The manned vehicle 40 includes a cockpit which the worker WM boards. Themanned vehicle 40 includes an accelerator manipulation unit 43A which isinstalled in the cockpit to manipulate the power generating device 43, abrake manipulation unit 44A which is installed in the cockpit tomanipulate the brake device 44, and a steering manipulation unit 45Awhich is installed in the cockpit to manipulate the steering device 45.The accelerator manipulation unit 43A includes an accelerator pedal. Thebrake manipulation unit 44A includes a brake pedal. The steeringmanipulation unit 45A includes a steering handle. The acceleratormanipulation unit 43A, the brake manipulation unit 44A, and the steeringmanipulation unit 45A are manipulated by the worker WM. The worker WMmanipulates one or both of the accelerator manipulation unit 43A and thebrake manipulation unit 44A to adjust the running speed of the mannedvehicle 40. The worker WM manipulates the steering manipulation unit 45Ato steer the running direction of the manned vehicle 40.

In addition, the manned vehicle 40 includes an alarm device 48 which isinstalled in the cockpit and an input device 49 which is installed inthe cockpit.

The alarm device 48 includes at least one of the display device 48A andthe voice output device 48B. The display device 48A includes a flatpanel display such as a liquid crystal display. The display device 48Acan display alarm data. The voice output device 48B can generate atleast one of alarm sound and alarm light.

The input device 49 includes input devices such as a keyboard, a touchpanel, and a mouse. When the input device 49 is manipulated by theworker WM of the manned vehicle 40, the input device 49 generates acommand signal. The command signal generated by the input device 49 isinput to the manned vehicle control device 60. In addition, the inputdevice 49 may include a voice recognition device, and a command signalmay be generated by voice of the worker WM. In addition, in the casewhere the input device 49 includes a touch panel, the display device 48Amay also be used as the input device 49.

In addition, the manned vehicle 40 is configured to include a speedsensor 46 which detects the running speed of the manned vehicle 40, aposition sensor 51 which detects the position of the manned vehicle 40,and a wireless communication device 52.

The speed sensor 46 is installed in the manned vehicle 40. The speedsensor 46 detects the running speed of the driving device 41 of themanned vehicle 40. The speed sensor 46 includes a rotation speed sensorwhich detects the rotation speed of the wheels 42. The rotation speed ofthe wheels 42 correlates with the running speed of the manned vehicle40. The rotation speed value which is a detection value of the rotationspeed sensor is converted into the running speed value of the mannedvehicle 40. A movement distance of the manned vehicle 40 is derived byintegrating the running speed of the manned vehicle 40.

The position sensor 51 is installed in the manned vehicle 40. Theposition sensor 51 includes a GPS receiver to detect a GPS position ofthe manned vehicle 40. The position sensor 51 includes a GPS antenna51A. The antenna 51A receives a radio wave from the GPS satellite ST.The position sensor 51 converts a signal based on the radio wave fromthe GPS satellite ST received through the antenna 51A into an electricalsignal to calculate the position of the antenna 51A. By calculating theGPS position of the antenna 51A, the GPS position of the manned vehicle40 is detected.

The communication system 9 includes the wireless communication device 52installed in the manned vehicle 40. The wireless communication device 52includes an antenna 52A. The wireless communication device 52 cancommunicate with the management device 10 and the dump truck 2 in awireless manner.

The manned vehicle control device 60 is installed in the manned vehicle40. The manned vehicle control device 60 controls the manned vehicle 40.The manned vehicle control device 60 includes a computer system. Themanned vehicle control device 60 includes a processor such as a centralprocessing unit (CPU) and memories such as a random access memory (RAM)and a read only memory (ROM).

A detection signal of the speed sensor 46 is output to the mannedvehicle control device 60. A detection signal of the position sensor 51is output to the manned vehicle control device 60. The command signalgenerated by the input device 49 is output to the manned vehicle controldevice 60. The detection signal of the speed sensor 46, the detectionsignal of the position sensor 51, and the command signal generated bythe input device 49 are supplied through the communication system 9 tothe management device 10. In addition, the command signal from themanagement device 10 is supplied through the communication system 9 tothe manned vehicle control device 60.

<Management Device>

Next, the management device 10 of the management system 1 will bedescribed. FIG. 5 is a block diagram illustrating an example of themanagement device 10 according to the embodiment. As illustrated in FIG.5, the management device 10 is configured to include a computer system11, a display device 16, an input device 17, and a wirelesscommunication device 18.

The computer system 11 is configured to include a processing device 12,a storage device 13, and an input/output unit 15. The display device 16,the input device 17, and the wireless communication device 18 areconnected to the computer system 11 through the input/output unit 15.

The communication system 9 includes the wireless communication device 18installed in the control facility 8. The wireless communication device18 is connected to the processing device 12 through the input/outputunit 15. The wireless communication device 18 includes an antenna 18A.The wireless communication device 18 can communicate with the dump truck2 and the manned vehicle 40.

The processing device 12 includes a processor such as a centralprocessing unit (CPU). The processing device 12 is configured to includea data processing unit 12A, a first unmanned vehicle running datageneration unit 12B, an entrance prohibited area setting unit 12C, amanned vehicle position data acquisition unit 63, a manned vehicle speeddata acquisition unit 64, a command signal determination unit 65, anentrance determination unit 66, an abnormality monitoring unit 67, anabnormality determination unit 68, and an alarm device control unit 70.

The data processing unit 12A processes, for example, the position dataof the dump truck 2. The position data of the dump truck 2 are suppliedthrough the communication system 9 from the dump truck 2.

The first unmanned vehicle running data generation unit 12B generatesfirst unmanned vehicle running data including a target running path ofthe dump truck 2 in the mine. The dump truck 2 runs in the loading siteLPA, the dumping site DPA, and the haul road HL based on the firstunmanned vehicle running data generated by the first unmanned vehiclerunning data generation unit 12B.

The entrance prohibited area setting unit 12C sets an entranceprohibited area where entrance of the dump truck 2 is prohibited in themine. The entrance prohibited area setting unit 12C sets the entranceprohibited area so that the entrance prohibited area includes theposition of the manned vehicle 40.

The manned vehicle position data acquisition unit 63 acquires mannedvehicle position data representing the position (GPS position) of themanned vehicle 40. The manned vehicle position data are acquired by theposition sensor 51 installed in the manned vehicle 40. The mannedvehicle position data acquisition unit 63 acquires the manned vehicleposition data through the communication system 9 from the manned vehicle40. The manned vehicle position data acquisition unit 63 functions as amoving body position data acquisition unit which acquires the positiondata of the manned vehicle 40 as a moving body which is different fromthe dump truck 2. The moving body position data representing theposition of the moving body include the manned vehicle position data.

The manned vehicle speed data acquisition unit 64 acquires mannedvehicle speed data representing the running speed of the driving device41 of the manned vehicle 40. The manned vehicle speed data are acquiredby the speed sensor 46 installed in the manned vehicle 40. The mannedvehicle speed data acquires the manned vehicle speed data through thecommunication system 9 from the manned vehicle 40. The manned vehiclespeed data acquisition unit 64 functions as a moving body speed dataacquisition unit which acquires the speed data of the manned vehicle 40as a moving body which is different from the dump truck 2. The movingbody speed data representing the running speed of the moving bodyinclude the manned vehicle speed data.

The command signal determination unit 65 determines based on themanipulation of the input device 49 installed in the manned vehicle 40whether or not the command signal is generated. If the worker WMperforms input manipulation on the input device 49, the input device 49generates the command signal. The command signal generated by the inputdevice 49 is transmitted through the communication system 9 to themanagement device 10. In the case where the command signal determinationunit 65 acquires the command signal of the input device 49 through thecommunication system 9 from the manned vehicle 40, the command signaldetermination unit determines that the input device 49 is manipulated.In the case where the command signal determination unit 65 does notacquire the command signal of the input device 49 through thecommunication system 9 from the manned vehicle 40, the command signaldetermination unit determines that the input device 49 is notmanipulated.

The entrance determination unit 66 determines based on the mannedvehicle position data whether or not the manned vehicle 40 enters anoperation area where the dump truck 2 operates in the mine. Operationarea data representing the operation area of the dump truck 2 are knowndata which are defined in advance and are stored in the storage device13. The entrance determination unit 66 determines based on the mannedvehicle position data acquired from the manned vehicle position dataacquisition unit 63 and the operation area data stored in the storagedevice 13 whether or not the manned vehicle 40 enters the operation areaof the dump truck 2.

The abnormality monitoring unit 67 starts abnormality monitoring for themanned vehicle 40 based on the manipulation on the input device 49installed in the manned vehicle 40. The abnormality monitoring for themanned vehicle 40 includes at least one of monitoring the state ofcommunication between the management device 10 and the manned vehicle 40by the communication system 9 and monitoring the accuracy of theposition of the manned vehicle 40. The communication state monitoringincludes monitoring whether the state of communication between themanagement device 10 and the manned vehicle 40 by the communicationsystem 9 is normal or abnormal. The position accuracy monitoringincludes monitoring whether the position detection state of the mannedvehicle 40 by the position sensor 51 including the GPS receiver isnormal or abnormal. When the input device 49 is manipulated and thecommand signal determination unit 65 acquires the command signal of theinput device 49, an abnormality monitoring unit 57 activates theabnormality monitoring function including at least one of thecommunication state monitoring function and the position accuracymonitoring function. In addition, the abnormality monitoring functionincludes enabling a later-described function of expanding the entranceprohibited area in the abnormal period.

In addition, in the embodiment, even in the case where the input device49 is not manipulated, when it is determined that the manned vehicle 40enters the operation area of the dump truck 2, the abnormalitymonitoring unit 67 activates the abnormality monitoring function.

The abnormality determination unit 68 determines by the abnormalitymonitoring function for the manned vehicle 40 whether or not theabnormality occurs. The abnormality determination unit 68 performs atleast one of communication state determination of determining whether ornot the communication state of the communication system 9 is normal andposition accuracy determination of determining whether or not theposition detection accuracy of the position sensor 51 is normal.

In the embodiment, in the case where it is determined by the abnormalitymonitoring function of the abnormality determination unit 68 that theabnormality occurs, the entrance prohibited area setting unit 12Cactivates and enables the function of expanding the entrance prohibitedarea.

In the abnormal period of the abnormality monitoring function, theentrance prohibited area setting unit 12C reckons a probable existencearea of the manned vehicle 40. The entrance prohibited area setting unit12C reckons a probable existence area where the manned vehicle 40 islikely to exist at a second time point later than a first time pointbased on manned vehicle status data at the first time point when theaccuracy of the position of the manned vehicle 40 detected by theposition sensor 51 is normal. The manned vehicle status data at thefirst time point include the manned vehicle position data representingthe GPS position of the manned vehicle 40 at the first time point andthe manned vehicle speed data representing the running speed of themanned vehicle 40 at the first time point. In addition, the mannedvehicle status data at the first time point may include steering datarepresenting a steering angle of the driving device 41 at the first timepoint. Although the accuracy of the position of the manned vehicle 40detected by the position sensor 51 at the second time point is abnormal,the entrance prohibited area setting unit 12C can reckon the probableexistence area of the manned vehicle 40 at the second time point basedon the manned vehicle status data at the first time point. The entranceprohibited area setting unit 12C expands the entrance prohibited areabased on the reckoned probable existence area of the manned vehicle 40.The entrance prohibited area setting unit 12C expands the entranceprohibited area by the amount corresponding to the probable existencearea. In the embodiment, the probable existence area of the mannedvehicle 40 is expanded as time elapses.

The alarm device control unit 70 outputs a control signal which controlsthe alarm device 48 installed in the manned vehicle 40. The alarm devicecontrol unit 70 outputs the control signal through the communicationsystem 9 to the manned vehicle 40. In the case where the entrancedetermination unit 66 determines that the manned vehicle 40 enters theoperation area of the dump truck 2 and the command signal determinationunit 65 determines that the input device 49 is not manipulated, thealarm device control unit 70 outputs a control signal which activatesthe alarm device 48 installed in the manned vehicle 40.

The storage device 13 stores various data of the dump truck 2 and themanned vehicle 40. The storage device 13 is connected to the processingdevice 12. The storage device 13 includes memories such as a randomaccess memory (RAM) or a read only memory (ROM) and storages such as ahard disk drive. The storage device 13 includes database 13B where dataare registered. The first unmanned vehicle running data generation unit12B generates first unmanned vehicle running data by using a computerprogram stored in the storage device 13.

The storage device 13 stores the operation area data representingoperation areas where the dump truck 2 operates. In addition, thestorage device 13 stores the safety area data representing safety areaswhere the dump truck 2 does not operate. In addition, there may be nosafety area data.

The display device 16 includes a flat panel display such as a liquidcrystal display. The input device 17 includes input devices such as akeyboard, a touch panel, and a mouse. When the input device 17 ismanipulated by a manager of the control facility 8, the input device 17generates a command signal. The command signal generated by the inputdevice 17 is input to the processing device 12.

<Dump Truck>

Next, the dump truck 2 will be described. FIGS. 6 and 7 are schematicdiagrams illustrating examples of the dump truck 2 according to theembodiment. FIG. 8 is a functional block diagram illustrating an exampleof the dump truck 2 according to the embodiment.

The dump truck 2 is configured to include a vehicle 3, a vessel 4installed in the vehicle 3, a non-contact sensor 24 which detects anobject in a non-contact manner, a storage device 25 which includesdatabase 25B, a gyro sensor 26 which detects an angular speed of thedump truck 2, a speed sensor 27 which detects a running speed of thedump truck 2, a position sensor 28 which detects a position of the dumptruck 2, a wireless communication device 29, and an unmanned vehiclecontrol device 30.

The vehicle 3 is configured to include a driving device 5 which can runin the mine, a vehicle body 6 which is supported on the driving device5, and a power generating device 7 which generates power. The vessel 4is supported on the vehicle body 6.

The driving device 5 is configured to include wheels 20, axles 21 whichrotatably support the wheels 20, a brake device 22 which can stoprunning, and a steering device 23 which can steer a running direction.

The driving device 5 drives by the power generated by the powergenerating device 7. The power generating device 7 drives the drivingdevice 5 in an electrical driving manner. The power generating device 7is configured to include an internal combustion engine such as a dieselengine, a generator which is activated by the power of the internalcombustion engine, and a motor which is activated by electric powergenerated by the generator. Power generated by the motor is transmittedto the wheels 20 of the driving device 5. By the power, the drivingdevice 5 is driven. By the power of the power generating device 7installed in the vehicle 3, the dump truck 2 self-runs. By adjusting thepower of the power generating device 7, the running speed of the dumptruck 2 is adjusted. In addition, the power generating device 7 maydrive the driving device 5 in a mechanical driving manner. For example,the power generated by the internal combustion engine may betransmission through a power transmission device to the wheels 20 of thedriving device 5.

The steering device 23 can steer the running direction of the drivingdevice 5. The running direction of the dump truck 2 including thedriving device 5 includes the direction of a front portion 6F of thevehicle body 6. The steering device 23 steers the running direction ofthe dump truck 2 by changing the direction of the wheels 20.

The non-contact sensor 24 is installed in the front portion of thevehicle body 6. The non-contact sensor 24 detects an object around thevehicle body 6 in a non-contact manner. The non-contact sensor 24includes a laser scanner. The non-contact sensor 24 detects the objectin a non-contact manner by using laser light as detection light. Thenon-contact sensor 24 can detect existence of an object, a relativeposition to the object, and a relative speed to the object. The relativeposition to the object includes a relative distance to the object and anorientation where the object exists with respect to the non-contactsensor 24. In addition, the non-contact sensor 24 may include a radardevice such as a millimeter-wave radar device. The radar device candetect the object in a non-contact manner by using a radio wave.

The gyro sensor 26 detects an angular speed of the dump truck 2. Anorientation of the dump truck 2 is derived by integrating the angularspeed of the dump truck 2.

The speed sensor 27 detects the running speed of the dump truck 2. Thespeed sensor 27 includes a rotation speed sensor which detects therotation speed of the wheels 20. The rotation speed of the wheels 20correlates with the running speed of the dump truck 2. The rotationspeed value which is a detection value of the rotation speed sensor isconverted into the running speed value of the dump truck 2. In addition,the speed sensor 27 may detect a rotation speed of the axle 21.

The position sensor 28 is installed in the vehicle 3. The positionsensor 28 includes a GPS receiver to detect a GPS position of the dumptruck 2. The position sensor 28 includes a GPS antenna 28A. The antenna28A receives a radio wave from the GPS satellite ST. The position sensor28 converts a signal based on the radio wave from the GPS satellite STreceived through the antenna 28A into an electrical signal to calculatethe position of the antenna 28A. By calculating the GPS position of theantenna 28A, the GPS position of the dump truck 2 is detected.

The communication system 9 includes the wireless communication device 29installed in the vehicle 3. The wireless communication device 29includes an antenna 29A. The wireless communication device 29 cancommunicate with the management device 10 and the manned vehicle 40 in awireless manner.

The unmanned vehicle control device 30 is installed in the dump truck 2.The unmanned vehicle control device 30 controls the dump truck 2. Theunmanned vehicle control device 30 includes a computer system. Theunmanned vehicle control device 30 includes a processor such as acentral processing unit (CPU) and memories such as a random accessmemory (RAM) and a read only memory (ROM).

The management device 10 supplies a command signal including the firstunmanned vehicle running data of the dump truck 2 to the unmannedvehicle control device 30 through the communication system 9. Theunmanned vehicle control device 30 controls the driving device 5 of thedump truck 2 based on the first unmanned vehicle running data suppliedfrom the first unmanned vehicle running data generation unit 12B of themanagement device 10. The control of the driving device 5 includescontrol of at least one of steering, accelerator, and brake of thedriving device 5.

The first unmanned vehicle running data generated by the first unmannedvehicle running data generation unit 12B of the management device 10represent target running paths of the dump truck 2 and limited runningspeeds of the dump truck 2. The management device 10 determines thelimited running speed (maximum allowed speed) of the dump truck 2 foreach of the positions (areas) of the haul road HL based on anenvironment condition of the mine including geographical conditions andclimate conditions of the mine. The management device 10 transmits thefirst unmanned vehicle running data representing the target runningpaths and the limited running speeds of the dump truck 2 to the dumptruck 2.

The unmanned vehicle control device 30 includes a second unmannedvehicle running data generation unit 30A which generates second unmannedvehicle running data. The second unmanned vehicle running datageneration unit 30A of the unmanned vehicle control device 30 generatesthe second unmanned vehicle running data including the target runningspeed data of the dump truck 2 based on the first unmanned vehiclerunning data supplied from the management device 10. The unmannedvehicle control device 30 controls the driving device 5 based on thefirst unmanned vehicle running data supplied from the management device10 and the second unmanned vehicle running data generated by the secondunmanned vehicle running data generation unit 30A. The unmanned vehiclecontrol device 30 determines the running speed of the driving device 5within the range of the limited running speed determined by themanagement device 10 to control the driving device 5. In other words,the dump truck 2 sets the limited running speed determined by themanagement device 10 as an upper limit to determine the running speed bythe second unmanned vehicle running data generation unit 30A and canfreely perform acceleration and deceleration.

In the embodiment, the dump truck 2 runs based on dead reckoningnavigation. The dump truck 2 runs in the loading site LPA, the dumpingsite DPA, and the haul road HL based on the first unmanned vehiclerunning data generated by the first unmanned vehicle running datageneration unit 12B and the second unmanned vehicle running datagenerated by the second unmanned vehicle running data generation unit30A. The unmanned vehicle control device 30 allows the dump truck 2 torun based on the target running path supplied from the first unmannedvehicle running data generation unit 12B and the target running speeddata generated by the second unmanned vehicle running data generationunit 30A while reckoning the current position of the dump truck 2 byusing the dead reckoning navigation. The dead reckoning navigationdenotes navigation of reckoning the current position of the dump truck 2based on an orientation and a moving distance from a start point ofwhich the longitude and the latitude are known. The orientation of thedump truck 2 is detected by using the gyro sensor 26 installed in thedump truck 2. The moving distance of the dump truck 2 is detected byusing the speed sensor 27 installed in the dump truck 2. The detectionsignal of the gyro sensor 26 and the detection signal of the speedsensor 27 are output to the unmanned vehicle control device 30 of thedump truck 2. The unmanned vehicle control device 30 can obtain theorientation of the dump truck 2 from the known start point based on thedetection signal from the gyro sensor 26. The unmanned vehicle controldevice 30 can obtain the moving distance of the dump truck 2 from theknown start point based on the detection signal from the speed sensor27. The unmanned vehicle control device 30 controls the running of thedriving device 5 of the dump truck 2 based on the detection signal fromthe gyro sensor 26 and the detection signal from the speed sensor 27 sothat the dump truck 2 runs according to the target running path of thefirst unmanned vehicle running data and the target running speed data ofthe second unmanned vehicle data.

In the embodiment, the reckoned position of the dump truck 2 obtained bythe dead reckoning navigation is corrected by using the GPS. If themoving distance of the dump truck 2 is long, due to accumulation ofdetection error of one or both of the gyro sensor 26 and the speedsensor 27, there is a possibility that an error may occur between thereckoned position which is a reckoned current position of the dump truck2 and an actual position. As a result, there is a possibility that thedump truck 2 deviates from the target running path of the first unmannedvehicle running data to run. In the embodiment, the unmanned vehiclecontrol device 30 allows the dump truck 2 to run while correcting thereckoned position of the dump truck 2 which is reckoned by the deadreckoning navigation by using the GPS position data representing the GPSposition of the dump truck 2 detected by the position sensor 28. Theunmanned vehicle control device 30 calculates a correction amountcorrecting the position of the dump truck 2 based on the detectionsignal from the gyro sensor 26, the detection signal from the speedsensor 27, and the GPS position data so that the dump truck 2 runs alongthe target running path and controls the running of the driving device 5of the dump truck 2 based on the calculated correction amount.

In addition, in the embodiment, although the reckoned position obtainedby the dead reckoning navigation is corrected by using the GPS, thecorrection may be performed by other methods. For example, landmarks ofwhich the installation positions are registered may be detected by thenon-contact sensor 24 installed in the dump truck 2, the reckonedposition may be corrected based on a result of the detection of thenon-contact sensor 24. In addition, the landmarks are a plurality ofstructures arranged along the haul road HL. The installation positions(absolute positions) of the landmarks are measured and registered inadvance. In addition, a roadside map of the haul road HL may be measuredin advance, and the reckoned position may be corrected based on a resultof checking of the roadside map and a shape of the haul road HL detectedby the non-contact sensor 24.

<Entrance Prohibited Area>

Next, the entrance prohibited area BP set by the entrance prohibitedarea setting unit 12C will be described. FIG. 9 is a schematic diagramillustrating an example of the entrance prohibited area BP according tothe embodiment. As illustrated in FIG. 9, in the embodiment, theentrance prohibited area BP is set as a circle.

The manned vehicle position data representing the position of the mannedvehicle 40 are transmitted from the manned vehicle 40 through thecommunication system 9 to the management device 10. The entranceprohibited area setting unit 12C of the management device 10 sets theentrance prohibited area BP where entrance of the dump truck 2 isprohibited so that the entrance prohibited area includes the position ofthe manned vehicle 40.

As illustrated in FIG. 9, the entrance prohibited area setting unit 12Csets the entrance prohibited area BP so that the manned vehicle 40 isprotected. In addition, the first unmanned vehicle running datageneration unit 12B sets a running allowed area AP of the dump truck 2so that the running allowed area does not overlap the entranceprohibited area BP. In the example illustrated in FIG. 9, two dumptrucks 2 which run on the outgoing path and the incoming path stop onthe haul road HL so as not to enter the entrance prohibited area BP.Therefore, collision between the dump truck 2 and the manned vehicle 40is avoided.

In addition, the entrance prohibited area BP may not be a circle, but,for example, a rectangle.

<Managing Method>

Next, a mine managing method according to the embodiment will bedescribed. FIG. 10 is a flowchart illustrating an example of operationsof the mine management system 1 according to the embodiment. FIGS. 11,12, and 13 are schematic diagrams illustrating examples of the minemanaging method according to the embodiment. FIG. 11 illustrates a statebefore the manned vehicle 40 enters an operation area SA of the dumptruck 2. FIGS. 12 and 13 illustrate states after the manned vehicle 40enters the operation area SA of the dump truck 2. FIG. 14 is a diagramillustrating an example of alarm by the alarm device 48 according to theembodiment.

The operation area SA is an area where the dump truck 2 operates in themine and includes the haul area where the dump truck 2 runs. In theembodiment, the operation area SA includes at least a portion of theloading site LPA, the dumping site DPA, and the haul road HL, wheretransporting work of the dump truck 2 is performed.

The safety area SB is an area where the dump truck 2 does not operate inthe mine and includes a non-running area where the dump truck 2 does notrun. The safety area SB is an outside area of the operation area SA, andin the embodiment, the safety area is outside areas of the loading siteLPA, the dumping site DPA, and the haul road HL.

The dump truck 2 runs only in the operation area SA, and the mannedvehicle 40 can run in the operation area SA and the safety area SB. Inaddition, in the case where an access road connected to the haul road HLis installed in the mine, the manned vehicle 40 may enter the operationarea SA or be withdrawn from the operation area SA through the accessroad. The access road is a running road installed in the safety area SB,and the dump truck 2 does not run on the access road.

The operation area data representing the operation area SA and thesafety area data representing the safety area SB are known data set inadvance and are stored in the storage device 13. Each of the operationarea SA and the safety area SB is an area defined in a GPS coordinatesystem and includes coordinate data of latitude, longitude, andaltitude. The operation area data and the safety area data are updatedat real time. In addition, each of the operation area SA and the safetyarea SB includes coordinate data of latitude and longitude and does notinclude coordinate data of altitude. In addition, each of the operationarea SA and the safety area SB may not be defined in the GPS coordinatesystem, and a grid coordinate system with an arbitrary point as anorigin may be used.

As illustrated in FIGS. 11, 12, and 13, the entrance prohibited areasetting unit 12C can set the entrance prohibited area BP in both of thecase where the manned vehicle 40 exists in the operation area SA and thecase where the manned vehicle exists in the safety area SB.

In the case where the dump truck 2 is allowed to operate in theoperation area SA, the unmanned vehicle running data of the dump truck 2are generated by the first unmanned vehicle running data generation unit12B of the management device 10. The first unmanned vehicle running datagenerated by the first unmanned vehicle running data generation unit 12Bare transmitted through the communication system 9 to the unmannedvehicle control device 30 of the dump truck 2. The unmanned vehiclecontrol device 30 controls the driving device 5 of the dump truck 2based on the first unmanned vehicle running data. The dump truck 2 runsin the operation area SA of the mine based on the first unmanned vehiclerunning data.

If the manned vehicle control device 60 of the manned vehicle 40 isactivated, communication between the manned vehicle 40 and themanagement device 10 of the management system 1 by the communicationsystem 9 is established (step SP1).

At the time when the manned vehicle control device 60 is activated toestablish the communication between the manned vehicle 40 and themanagement device 10 by the communication system 9, the entranceprohibited area setting unit 12C sets the entrance prohibited area BPwhere entrance of the dump truck 2 is prohibited so that the entranceprohibited area includes the position of the manned vehicle 40 based onthe manned vehicle position data (step SP2).

The manned vehicle position data acquisition unit 63 of the managementdevice 10 acquires the manned vehicle position data representing theposition of the manned vehicle 40 through the communication system 9from the manned vehicle 40 (step SP3).

As illustrated in FIG. 11, in the case where the communication betweenthe manned vehicle 40 and the management device 10 by the communicationsystem 9 is established, the entrance prohibited area BP is set so as toinclude the position of the manned vehicle 40. The entrance prohibitedarea BP is set to have a size of the initial state (size of the normalperiod). The manned vehicle 40 runs in the safety area SB of the mine bydriving manipulation of the worker WM.

The command signal determination unit 65 determines based on themanipulation on the input device 49 installed in the manned vehicle 40whether or not a command signal is generated (step SP4). Namely, thecommand signal determination unit 65 determines whether or not the inputdevice 49 is manipulated by the worker WM.

The command signal generated by the input device 49 includes a requestsignal of a request for starting the abnormality monitoring by theabnormality monitoring unit 67. In the embodiment, the request forstarting of the abnormality monitoring includes a request forconsignment or participation in the management of the manned vehicle 40by the management device 10. When the worker WM of the manned vehicle 40intends to allow the manned vehicle 40 to enter the operation area SA,the worker manipulates the input device 49 to request the managementdevice 10 to start the management including the abnormality monitoring.If the abnormality monitoring unit 67 receives the command signal of theinput device 49, the abnormality monitoring unit registers the mannedvehicle 40 where the input device 49 is installed as a management-objectmanned vehicle in the storage device 13. The abnormality monitoring unit67 performs the management including the abnormality monitoring on onlythe manned vehicle 40 registered in the storage device 13.

In step SP4, in the case where it is determined that the command signalis generated, that is, in the case where it is determined that the inputdevice 49 is manipulated (step SP4: Yes), the abnormality monitoringunit 67 starts abnormality monitoring for the manned vehicle 40 based onthe command signal generated by the input device 49 (step SP5). Asdescribed above, the abnormality monitoring function includes enablingthe function of expanding of the entrance prohibited area BP, and theabnormality monitoring unit 67 enables the function of expanding of theentrance prohibited area BP in the abnormal period.

The abnormality monitoring unit 67 determines whether or not theposition detection state and the communication state of the mannedvehicle 40 are normal (step SP6). As described above, the abnormalitymonitoring function includes at least one of the communication statemonitoring function and the position accuracy monitoring function. Inthe abnormality monitoring function, the abnormality includes the timeof occurrence of the situation where it is difficult to set the entranceprohibited area BP based on the manned vehicle position data such asloss of communication by the communication system 9 and deterioration inaccuracy of detection of the position of the manned vehicle 40 by theposition sensor 51. By expanding the entrance prohibited area BP, thesafety of the manned vehicle 40 is ensured.

In step SP6, in the case where it is determined that the positiondetection state and the communication state of the manned vehicle 40 arenormal (step SP6: Yes), the entrance prohibited area BP is not expanded,and the size is maintained.

In step SP6, in the case where it is determined that the positiondetection state and the communication state of the manned vehicle 40 arenot normal (step SP6: No), the entrance prohibited area setting unit 12Cexpands the entrance prohibited area BP in the abnormal period of theabnormality monitoring (step SP7). The entrance prohibited area settingunit 12C reckons a probable existence area where the manned vehicle 40is likely to exist at a second time point later than a first time pointbased on manned vehicle status data at the first time point when theabnormality monitoring function is normal in the abnormal period of theabnormality monitoring function by the abnormality monitoring unit 67.The entrance prohibited area setting unit 12C expands the entranceprohibited area BP as time elapses based on the reckoned probableexistence area.

Namely, in the embodiment, in the state where the function of expandingof the entrance prohibited area BP is activated, when it is determinedthat the abnormality monitoring function of the abnormality monitoringunit 67 is abnormal, as illustrated in FIG. 13, the entrance prohibitedarea setting unit 12C expands the entrance prohibited area BP.

In step SP4, in the case where it is determined that a command signal isnot generated, that is, in the case where it is determined that theinput device 49 is not manipulated (step SP4: No), the abnormalitymonitoring unit 67 determines whether or not the manned vehicle 40enters the operation area SA (step SP8).

The entrance determination unit 66 can determine based on the mannedvehicle position data acquired by the manned vehicle position dataacquisition unit 63 and at least one of the operation area data and thesafety area data stored in the storage device 13 whether or not themanned vehicle 40 enters the operation area SA.

In step SP8, in the case where it is determined that the manned vehicle40 does not enter the operation area SA, the procedure returns to stepSP3.

In step SP8, in the case where it is determined that the manned vehicle40 enters the operation area SA, the alarm device control unit 70outputs a control signal of activating the alarm device 48 installed inthe manned vehicle 40. Therefore, the alarm device 48 is activated (stepSP9).

Namely, in the embodiment, when it is determined that the manned vehicle40 enters from the safety area SB to the operation area SA and it isdetermined that the input device 49 is not manipulated by the worker WM,the alarm device control unit 70 transmits the control signal throughthe communication system 9 to the manned vehicle 40 to activate thealarm device 48 installed in the manned vehicle 40.

As illustrated in FIG. 14, the display device 48A of the alarm device 48displays image data representing the operation area SA, image datarepresenting the entrance prohibited area BP, and image datarepresenting the manned vehicle 40. In addition, the display device 48Adisplays alarm data for prompting the worker WM to manipulate the inputdevice 49. In the example illustrated in FIG. 14, as the alarm data,text data “please input” are displayed on the display device 48A. Inaddition, the alarm device 48 may output voice data of “please input” asthe alarm data by using the voice output device 48B.

The alarm device 48 is activated, so that the worker WM of the mannedvehicle 40 can recognize that the worker has neglected the manipulationon the input device 49.

The abnormality monitoring unit 67 starts abnormality monitoring for themanned vehicle 40 (step SP10).

The command signal determination unit 65 determines based on themanipulation on the input device 49 installed in the manned vehicle 40whether or not a command signal is generated (step SP11).

In step SP11, in the case where it is determined that the command signalis generated, that is, in the case where it is determined that the inputdevice 49 is manipulated (step SP11: Yes), the alarm of the alarm device48 is canceled (step SP12).

In step SP11, in the case where it is determined that the command signalis not generated, that is, in the case where it is determined that theinput device 49 is not manipulated (step SP11: No), it is determinedwhether or not the manned vehicle 40 enters the operation area SA (stepSP13).

In step SP13, in the case where it is determined that the manned vehicle40 enters the operation area SA (step SP13: Yes), the procedure returnsto step SP11.

In step SP13, in the case where it is determined that the manned vehicle40 does not enter the operation area SA (step S13: No), the abnormalitymonitoring is canceled (step SP14).

In the embodiment, in the case where the abnormality monitoring isstarted, the abnormality monitoring unit 67 notifies to the mannedvehicle 40 a message indicating that the abnormality monitoring isstarted through the communication system 9. The abnormality monitoringunit 67 transmits a response signal representing that the abnormalitymonitoring is started through the communication system 9 to the mannedvehicle 40. The notice indicating that the abnormality monitoring isstarted denotes a notice indicating that the manned vehicle 40 isregistered as the management-object manned vehicle in the storage device13 of the management device 10.

The response signal transmitted from the management device 10 to themanned vehicle 40 which represents that the abnormality monitoring isstarted and the manned vehicle is registered as the management-objectmanned vehicle is, for example, converted into image data to bedisplayed on the display device 48A or converted into voice data to beoutput from the voice output device 48B. The response signal is outputthrough the alarm device 48, so that the worker WM can check that themanned vehicle 40 driven by the worker WM is registered in themanagement device 10 and is subject to the abnormality monitoring andcan enter the operation area SA.

<Function and Effect>

As described heretofore, according to the embodiment, when the mannedvehicle 40 existing in the safety area SB enters the operation area SA,the input device 49 is manipulated by the worker WM of the mannedvehicle 40, and it is announced that the manned vehicle 40 enters theoperation area SA. The command signal generated based on themanipulation on the input device 49 includes the request signal of arequest for starting abnormality monitoring of the abnormalitymonitoring unit 67. The input device 49 is manipulated, so that thecommand signal generated based on the manipulation on the input device49 is transmitted through the communication system 9 to the abnormalitymonitoring unit 67. The abnormality monitoring unit 67 activates theabnormality monitoring function based on the command signal from theinput device 49 to start abnormality monitoring for the manned vehicle40. Therefore, the safety of the manned vehicle 40 is ensured.

According to the embodiment, when it is determined that the mannedvehicle 40 enters the operation area SA and the input device 49 is notmanipulated, the alarm device 48 installed in the manned vehicle 40 isactivated. When the worker intends to allow the manned vehicle 40 toenter the operation area SA, even in the case where the worker WM hasneglected the manipulation on the input device 49, the alarm device 48is activated, so that the worker WM can be alerted. The alarm device 48is activated, so that the worker WM can be prompted to manipulate theinput device 49. The input device 49 is manipulated, and thus, theabnormality monitoring is started, so that the safety of the mannedvehicle 40 is ensured.

In addition, in the embodiment, when it is determined by the abnormalitymonitoring function that the abnormality does not occur, the entranceprohibited area BP is set to the size in the initial state; and when itis determined by the abnormality monitoring function that theabnormality occurs, the entrance prohibited area BP is expanded as timeelapses.

In the state where the abnormality is not detected by the abnormalitymonitoring unit 67, the entrance prohibited area setting unit 12C cansurely set the entrance prohibited area BP for protecting the mannedvehicle 40 based on the manned vehicle position data. In the state wherethe abnormality monitoring function normally functions, even in the casewhere the manned vehicle 40 exists in the operation area SA,interference between the dump truck 2 and the manned vehicle 40 isprevented by the entrance prohibited area BP which is set to the size inthe normal period, so that the safety of the manned vehicle 40 isensured. In addition, the entrance prohibited area BP is set to the sizein the normal period, so that reduction in productivity of the dumptruck 2 is suppressed. If the entrance prohibited area BP isunnecessarily large, although the possibility of interference with themanned vehicle 40 is low, the dump truck 2 approaching the entranceprohibited area BP needs to decelerate, change the running path, orstop. In the state where the abnormality monitoring function normallyfunctions, the entrance prohibited area BP is set to a necessary minimumsize, so that the reduction in productivity of the dump truck 2 issuppressed and the safety of the manned vehicle 40 can be ensured.

On the other hand, in the state where the abnormality is detected by theabnormality monitoring unit 67, that is, in the state where loss ofcommunication by the communication system 9, deterioration in accuracyof detection of the position of the manned vehicle 40 by the positionsensor 51, or the like occurs, it is difficult for the entranceprohibited area setting unit 12C of the management device 10 to acquirethe manned vehicle position data. In addition, although the mannedvehicle position data are acquired, there is a high possibility that themanned vehicle position data are inaccurate. In the case where theentrance prohibited area BP is set based on the inaccurate mannedvehicle position data, the actual position of the manned vehicle 40 andthe set entrance prohibited area BP are deviated from each other, andthus, a portion of the manned vehicle 40 protrudes to the outside of theentrance prohibited area BP, so that there is a possibility that it isdifficult to sufficiently ensure the safety of the manned vehicle 40. Inthe embodiment, in the state where the manned vehicle 40 exists in theoperation area SA and the function of expanding of the entranceprohibited area BP is activated, in the case where the abnormalityoccurs in the abnormality monitoring function by the abnormalitymonitoring unit 67, as illustrated in FIG. 13, the entrance prohibitedarea setting unit 12C expands the entrance prohibited area BP as timeelapses. Therefore, the deviation between the actual position of themanned vehicle 40 and the set entrance prohibited area BP and theprotrusion of a portion of the manned vehicle 40 to the outside of theentrance prohibited area BP are suppressed. For this reason, even in thecase where the manned vehicle 40 exists in the operation area SA, by theentrance prohibited area BP set to the second size, the interferencebetween the dump truck 2 and the manned vehicle 40 is prevented, so thatthe safety of the manned vehicle 40 is ensured.

In addition, in the embodiment, the entrance prohibited area settingunit 12C reckons the probable existence area where the manned vehicle 40is likely to exist at a second time point later than a first time pointbased on the manned vehicle status data at the first time point when theabnormality monitoring function is normal in the abnormal period of theabnormality monitoring function by the abnormality monitoring unit 67.Therefore, although the situation where it is difficult to set theentrance prohibited area BP based on the manned vehicle position datasuch as loss of communication by the communication system 9 ordeterioration in accuracy of detection of the position of the mannedvehicle 40 by the position sensor 51 occurs, the entrance prohibitedarea setting unit 12C reckons the probable existence area of the mannedvehicle 40 at a second time point by using the manned vehicle positiondata at a first time point which the normal period of the abnormalitymonitoring function without using the manned vehicle position data atthe second time point which is the abnormal period of the abnormalitymonitoring function, so that the entrance prohibited area BP can be setto the added entrance prohibited area BP so as to include the probableexistence area. Therefore, the safety of the manned vehicle 40 isensured.

In addition, in the embodiment, in the state where the input device 49is not manipulated by the worker WM of the manned vehicle 40, when it isdetermined based on the manned vehicle position data that the mannedvehicle 40 enters the operation area SA, the abnormality monitoring unit67 does not receive the command signal of the input device 49, but theabnormality monitoring unit starts monitoring the abnormality of themanned vehicle 40. Therefore, even in the case where the alarm device 48is activated but the worker WM has neglected the manipulation on theinput device 49, when the manned vehicle 40 enters the operation areaSA, since the abnormality monitoring is started, the safety of themanned vehicle 40 is ensured.

Namely, in the embodiment, although the input device 49 is notmanipulated, in the case where the manned vehicle 40 enters theoperation area SA, the abnormality monitoring is automatically started.Therefore, the safety of the manned vehicle 40 can be sufficientlyensured. For example, for some reasons such as occurrence of failure ofthe management system 1 or change in environment of the mine, themanagement system fails in the automatic starting of the abnormalitymonitoring, so that there is a possibility that the abnormalitymonitoring is not performed. If the alerting by the alarm device 48 isnot performed, there is a possibility that the worker WM allows themanned vehicle 40 to enter the operation area SA without payingattention to the success in the starting of the abnormality monitoring.The alerting by the alarm device 48 is performed, so that the worker WMcan pay attention to the success in the starting of the abnormalitymonitoring. The alerting by the alarm device 48 is performed, and thus,the input device 49 is manipulated, so that the abnormality monitoringis surely started. In addition, since the worker WM pays attention tothe success in the starting of the abnormality monitoring, after theinput device 49 is manipulated, in the case where the response signalrepresenting that the abnormality monitoring is started is not notifiedfrom the abnormality monitoring unit 67 or in the case where an errorsignal representing that the management system fails in the starting ofthe abnormality monitoring is notified, it is possible to refrain themanned vehicle 40 from entering the operation area SA. Therefore, thesafety of the manned vehicle 40 is sufficiently ensured.

In addition, in the embodiment, the entrance prohibited area settingunit 12C sets the entrance prohibited area BP in the case where themanned vehicle 40 exists in each of the operation area SA and the safetyarea SB. Therefore, the safety of the manned vehicle 40 is ensured. Inaddition, in the embodiment, in the case where the manned vehicle 40exists in the operation area SA, the function of expanding of theentrance prohibited area BP is activated, so that the entranceprohibited area BP is expanded in the abnormal period of the abnormalitymonitoring function. On the other hand, in the case where the mannedvehicle 40 exists in the safety area SB, the function of expanding ofthe entrance prohibited area BP is canceled, the entrance prohibitedarea BP is not expanded in both of the normal period and abnormal periodof the abnormality monitoring function. In the case where the mannedvehicle 40 exists in the safety area SB, there is a sufficiently lowpossibility that the dump truck 2 and the manned vehicle 40 interferewith each other. Although there is a sufficiently lower possibility thatthe dump truck 2 and the manned vehicle 40 interfere with each other andthe safety of the manned vehicle 40 is ensured, in the case where theentrance prohibited area BP is expanded in the abnormal period of theabnormality monitoring function, although the manned vehicle 40 existsin the safety area SB, there is a possibility that a portion of theentrance prohibited area BP protrudes into the operation area SA.Although the manned vehicle 40 exists in the safety area SB and thesafety of the manned vehicle 40 is ensured, if a portion of the expandedentrance prohibited area BP protrudes into the operation area SA, due tothe entrance prohibited area BP, the dump truck 2 running in theoperation area SA needs to decelerate, change the running path, or stop.In this case, the transport work of the dump truck 2 is disturbed, whichresults in reduction in productivity of the mine. If the abnormal stateis maintained long, the entrance prohibited area BP is expanded as timeelapses, and in the extreme case, the entire mine is covered with theentrance prohibited area BP, and thus, all the dump trucks 2 stoprunning, so that productivity is greatly deteriorated. In the statewhere the manned vehicle 40 exists in the safety area SB, the entranceprohibited area BP is set to a necessary minimum size, so that thesetting of the entrance prohibited area BP as the operation area SA issuppressed. For this reason, the reduction in productivity of the dumptruck 2 is suppressed, so that the safety of the manned vehicle 40 isensured.

In addition, according to the embodiment, when the abnormalitymonitoring unit 67 starts the abnormality monitoring, the abnormalitymonitoring unit notifies to the manned vehicle 40 the response signalrepresenting that the abnormality monitoring is started and the mannedvehicle 40 is registered as the management object of the managementdevice 10 in the storage device 13. Therefore, after the worker checksthat the safety management is started or that the manned vehicle 40 isregistered as the management object of the management device 10 in thestorage device 13, the worker WM can allow the manned vehicle 40 toenter the operation area SA. In addition, in the case where the workercannot check that the safety management is started or that the mannedvehicle 40 is registered as the management object of the managementdevice 10 in the storage device 13, the worker WM can refrain the mannedvehicle 40 from entering the operation area SA. Therefore, the safety ofthe manned vehicle 40 can be ensured.

In addition, in the embodiment, it is configured that, in the initialstate where the communication of the communication system 9 isestablished, the entrance prohibited area BP is set to the size in thenormal period, and in the abnormal period of the abnormality monitoringfunction, the entrance prohibited area is expanded as time elapses. Thesize of the entrance prohibited area BP in the initial state may bechanged by the manipulation on the input device 49 of the manned vehicle40 or may be changed by the manipulation of the input device 17 of themanagement device 10. The worker WM or the manager can select the sizeof the entrance prohibited area BP in the initial state according to thesituation of the mine.

<Other Embodiments>

In addition, in the above-described embodiment, it is configured thatthe moving body which is different from the dump truck 2 is the mannedvehicle 40. The moving body which is different from the dump truck 2 maybe a mobile device held by the worker WM. FIGS. 15 and 16 are schematicdiagram illustrating examples of a mobile device 80 as the moving bodywhich is different from the dump truck 2. The mobile device 80 moves inthe mine in the state where the mobile device 80 is held by the workerWM.

The mobile device 80 is configured to include a position sensor whichincludes a GPS receiver, an input device, a wireless communicationdevice which can communicate with the management device 10 in a wirelessmanner, an alarm device which includes at least one of a display deviceand a voice output device, and a mobile device control device. Theposition sensor of the mobile device 80 has a function equivalent tothat of the position sensor 51 of the manned vehicle 40. The inputdevice of the mobile device 80 has a function equivalent to that of theinput device 49 of the manned vehicle 40. The wireless communicationdevice of the mobile device 80 has a function equivalent to that of thewireless communication device 52 of the manned vehicle 40. The alarmdevice of the mobile device 80 has a function equivalent to that of thealarm device 48 of the manned vehicle 40. The mobile device controldevice of the mobile device 80 has a function equivalent to that of themanned vehicle control device 60 of the manned vehicle 40.

For example, as illustrated in FIG. 15, in the case where the worker WMalights from the manned vehicle 40 which enters the operation area SA,the mobile device 80 held by the worker WM is activated, at the timewhen the communication between the mobile device 80 and the managementdevice 10 is established, the entrance prohibited area BPc is set so asto include the position of the mobile device 80. Therefore, the safetyof the worker WM holding the mobile device 80 is ensured.

In the case where the mobile device 80 (worker WM) exists in theentrance prohibited area BP set for the manned vehicle 40, the entranceprohibited area BPc set for the mobile device 80 is set to a third size.

When the worker WM holding the mobile device 80 moves to the outer areaof the entrance prohibited area BP set for the manned vehicle 40 (thearea of the operation area SA where the entrance prohibited area BP isnot set), the worker manipulates the input device of the mobile device80. Therefore, the abnormality monitoring for the mobile device 80 bythe abnormality monitoring unit 67 is started.

In addition, when it is determined based on the position data of themobile device 80 that the mobile device 80 moves to the outer area ofthe entrance prohibited area BP, the entrance prohibited area settingunit 12C activates the function of expanding the entrance prohibitedarea BPc.

In addition, when it is determined by the abnormality monitoring unit 67that the abnormality occurs in the abnormality monitoring function ofthe mobile device 80, as illustrated in FIG. 16, the entrance prohibitedarea setting unit 12C expands the entrance prohibited area BPc from thesize in the normal period. Therefore, the safety of the worker WMholding the mobile device 80 is ensured.

On the other hand, in the case where it is determined that the mobiledevice 80 enters the outer area of the entrance prohibited area BP andthe input device of the mobile device 80 is not manipulated, the alarmdevice control unit 70 transmits an activation signal of activating thealarm device of the mobile device 80 to the mobile device 80. Therefore,the alarm device of the mobile device 80 is activated, so that theworker WM can be prompted to manipulate the input device of the mobiledevice 80.

In addition, in each of the above-described embodiments, the functionsof the data processing unit 12A, the first unmanned vehicle running datageneration unit 12B, the entrance prohibited area setting unit 12C, themanned vehicle position data acquisition unit 63, the manned vehiclespeed data acquisition unit 64, the command signal determination unit65, the entrance determination unit 66, the abnormality monitoring unit67, the abnormality determination unit 68, the alarm device control unit70, the storage device 13, and the like are configured to be installedin the management device 10. As illustrated in FIG. 17, these functionalunits may be installed in the manned vehicle 40 (manned vehicle controldevice 60) or may be installed in the mobile device 80 (mobile devicecontrol device). Namely, in the above-described embodiments, themanagement system 1 may be installed in the control facility 8 or may beinstalled in a moving body including at least one of the manned vehicle40 and the mobile device 80.

In addition, in the above-described embodiments, it is configured thatthe position data of the moving body (manned vehicle 40 or mobile device80) are acquired by the position sensor including the GPS receiver. Forexample, in the case where the access road is connected to the haul roadHL, a signal terminal is installed in the access road, and at the timewhen the communication between the signal terminal and the moving bodyis established, the position of the moving body may be acquired as theposition data of the moving body in the access road.

In addition, in the above-described embodiments, the time point when themoving body is determined to enter the operation area SA may be a timepoint when the moving body is determined to enter the operation area SA,a time point when a threshold value of elapsing time elapses after themoving body enters the operation area SA, or a time point when adistance between the moving body approaching the operation area SA inthe safety area SB and the operation area SA is a threshold value orless based on the moving body position data acquired by the moving bodyposition data acquisition unit.

In addition, in some cases, as parts of monitoring and maintenance ofthe mine, the worker WM manipulates the input device 49 to transmitreport data representing a report of the situation of the haul road HLto the management device 10. When the input device 49 is notmanipulated, the transmission of the report data may be configured to beprohibited. Therefore, when the manned vehicle 40 enters the operationarea SA, the worker WM can be allowed to surely manipulate the inputdevice 49.

The components of the above-described embodiments include things thatcan be easily considered by the ordinarily skilled in the art, thingsthat are substantially the same, and things within the so-called rangeof equivalents. In addition, the components of the above-describedembodiments may be appropriately combined. In addition, in some cases, aportion of the components may not be used.

REFERENCE SIGNS LIST

1 MANAGEMENT SYSTEM

2 DUMP TRUCK (UNMANNED VEHICLE)

3 VEHICLE

4 VESSEL

5 DRIVING DEVICE

6 VEHICLE BODY

7 POWER GENERATING DEVICE

8 CONTROL FACILITY

9 COMMUNICATION SYSTEM

10 MANAGEMENT DEVICE

11 COMPUTER SYSTEM

12 PROCESSING DEVICE

12A DATA PROCESSING UNIT

12B FIRST UNMANNED VEHICLE RUNNING DATA GENERATION UNIT

12C ENTRANCE PROHIBITED AREA SETTING UNIT

13 STORAGE DEVICE

13B DATABASE

15 INPUT/OUTPUT UNIT

16 DISPLAY DEVICE

17 INPUT DEVICE

18 WIRELESS COMMUNICATION DEVICE

20 WHEEL

21 AXLE

22 BRAKE DEVICE

23 STEERING DEVICE

24 NON-CONTACT SENSOR

25 STORAGE DEVICE

25B DATABASE

26 GYRO SENSOR

27 SPEED SENSOR

28 POSITION SENSOR

28A ANTENNA

29 WIRELESS COMMUNICATION DEVICE

29A ANTENNA

30 UNMANNED VEHICLE CONTROL DEVICE

30A SECOND UNMANNED VEHICLE RUNNING DATA GENERATION UNIT

40 MANNED VEHICLE

41 DRIVING DEVICE

42 WHEEL

43 POWER GENERATING DEVICE

43A ACCELERATOR MANIPULATION UNIT

44 BRAKE DEVICE

44A BRAKE MANIPULATION UNIT

45 STEERING DEVICE

45A STEERING MANIPULATION UNIT

46 SPEED SENSOR

48 ALARM DEVICE

48A DISPLAY DEVICE

48B VOICE OUTPUT DEVICE

49 INPUT DEVICE

50 VEHICLE BODY

51 POSITION SENSOR

51A ANTENNA

52 WIRELESS COMMUNICATION DEVICE

52A ANTENNA

60 MANNED VEHICLE CONTROL DEVICE

63 MANNED VEHICLE POSITION DATA ACQUISITION UNIT

64 MANNED VEHICLE SPEED DATA ACQUISITION UNIT

65 COMMAND SIGNAL DETERMINATION UNIT

66 ENTRANCE DETERMINATION UNIT

67 ABNORMALITY MONITORING UNIT

68 ABNORMALITY DETERMINATION UNIT

70 ALARM DEVICE CONTROL UNIT

80 MOBILE DEVICE

AP RUNNING ALLOWED AREA

BP ENTRANCE PROHIBITED AREA

DPA DUMPING SITE

HL HAUL ROAD

LM LOADING MACHINE

LPA LOADING SITE

SA OPERATION AREA

SB SAFETY AREA

ST GPS SATELLITE

WM WORKER

The invention claimed is:
 1. A mine management system for a mine wherean unmanned vehicle operates in an operation area of the mine,comprising: an abnormality monitoring unit which performs monitoringabnormality including abnormality of at least one of communication stateand position detection state of a moving body which is different fromthe unmanned vehicle; and an entrance prohibited area setting unit whichsets an entrance prohibited area where entrance of the unmanned vehicleis prohibited so that the entrance prohibited area includes a positionof the moving body and activates a function of expanding the entranceprohibited area when an abnormality is detected by the abnormalitymonitoring unit.
 2. The mine management system according to claim 1,wherein when the abnormality is detected by the abnormality monitoringunit, the entrance prohibited area setting unit reckons a probableexistence area of the moving body to expand the entrance prohibitedarea.
 3. The mine management system according to claim 1, wherein theentrance prohibited area setting unit expands the entrance prohibitedarea based on at least one of position data representing an absoluteposition of the moving body at a time point when an accuracy of theposition of the moving body detected by a position sensor installed inthe moving body is normal, speed data representing a running speed ofthe moving body at the time point, and steering data representing asteering angle of a driving device installed in the moving body at thetime point.
 4. The mine management system according to claim 1, furthercomprising: an entrance determination unit which determines based onposition data of the moving body whether or not the moving body entersthe operation area, and wherein when it is determined that the movingbody enters the operation area, the abnormality monitoring unit performsthe abnormality monitoring.
 5. The mine management system according toclaim 4, wherein when it is determined that the moving body does notenter the operation area, the abnormality monitoring unit cancels theabnormality monitoring.
 6. The mine management system according to claim1, wherein the abnormality monitoring unit performs the monitoringabnormality based on manipulation on an input device installed in themoving body.
 7. The mine management system according to claim 1, whereinthe abnormality monitoring unit notifies to the moving body a messageindicating that the abnormality monitoring is started.
 8. The minemanagement system according to claim 1, further comprising: an alarmdevice control unit which activates an alarm device installed in themoving body when it is determined that the moving body enters theoperation area and the input device is not manipulated.
 9. A minemanaging method by a computer system for a mine where an unmannedvehicle operates in an operation area of the mine, comprising:performing monitoring abnormality including abnormality of at least oneof communication state and position detection state of a moving bodywhich is different from the unmanned vehicle; setting entranceprohibited area where entrance of the unmanned vehicle is prohibited sothat the entrance prohibited area includes a position of the movingbody; and activating a function of expanding the entrance prohibitedarea when an abnormality is detected by the monitoring abnormality.